Active disturbance rejection attitude control of unmanned quadrotor via paired coevolution pigeon-inspired optimization

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yang Yuan ◽  
Haibin Duan
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Parameters Identification ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
External Interference ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Attitude Controller

Purpose The purpose of this paper is to develop a novel active disturbance rejection attitude controller for quadrotors and propose a controller parameters identification approach to obtain better control results. Design/methodology/approach Aiming at the problem that quadrotor is susceptible to disturbance in outdoor flight, the improved active disturbance rejection control (IADRC) is applied to design attitude controller. To overcome the difficulty that adjusting the parameters of IADRC controller manually is complex, paired coevolution pigeon-inspired optimization (PCPIO) algorithm is used to optimize the control parameters. Findings The IADRC, where nonlinear state error feedback control law is replaced by non-singular fast terminal sliding mode control law and a third-order tracking differentiator is designed for second derivative of the state, has higher control accuracy and better robustness than ADRC. The improved PIO algorithm based on evolutionary mechanism, named PCPIO, is proposed. The optimal parameters of ADRC controller are found by PCPIO with the optimization criterion of integral of time-weighted absolute value of the error. The effectiveness of the proposed method is verified by a series of simulation experiments. Practical implications IADRC can improve the accuracy of attitude control of quadrotor and resist external interference more effectively. The proposed PCPIO algorithm can be easily applied to practice and can help the design of the quadrotor control system. Originality/value An improved active disturbance rejection controller is designed for quadrotor attitude control, and a hybrid model of PIO and evolution mechanism is proposed for parameters identification of the controller.

Adaptive output-feedback robust active disturbance rejection control for uncertain quadrotor with unknown disturbances

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Syed Awais Ali Shah
Keyword(s):  
Output Feedback ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
The State ◽  
Active Disturbance Rejection Control ◽  
State Variables ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Model

PurposeIn this research paper, an adaptive output-feedback robust active disturbance rejection control (RADRC) is designed for the multiple input multiple output (MIMO) quadrotor attitude model subject to unwanted uncertainties and disturbances (UUDs).Design/methodology/approachIn order to achieve the desired control objectives in the presence of UUDs, the low pass filter (LPF) and extended high gain observer (EHGO) methods are used for the estimation of matched and mismatched UUDs, respectively. Furthermore, for solving the chattering incurred in the standard sliding mode control (SMC), a multilayer sliding mode surface is constructed. For formulating the adaptive output-feedback RADRC algorithm, the EHGO, LPF and SMC schemes are combined using the separation principle.FindingsThe findings of this research work include the design of an adaptive output-feedback RADRC with the ability to negate the UUDs as well as estimate the unknown states of the quadrotor attitude model. In addition, the chattering problem is addressed by designing a modified SMC scheme based on the multilayer sliding mode surface obtained by utilizing the estimated state variables. This sliding mode surface is also used to obtain the adaptive criteria for the switching design gain parameters involved in the SMC. Moreover, the requirement of high design gain parameters in the EHGO is solved by combining it with the LPF.Originality/valueDesigning the flight control techniques while assuming that the state variables are available is a common practice. In addition, to obtain robustness, the SMC technique is widely used. However, in practice, the state variables might not be available due to unknown parameters and uncertainties, as well as the chattering due to SMC reduces the performances of the actuators. Hence, in this paper, an adaptive output-feedback RADRC technique is designed to solve the problems of UUDs and chattering.

Research on Attitude Control of Spacecraft Based on ADRC

2011 ◽  
Vol 383-390 ◽  
pp. 358-365 ◽  
Author(s):  
Fu Lin Teng ◽  
Hong Yu Ge ◽  
Hong Sheng Li ◽  
Jian Hua Zhang
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
High Performance ◽  
Control Technology ◽  
Attitude Control System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation And Experiment ◽  
Attitude Controller ◽  
Very High

Modern spacecraft demands from an attitude control system very high performance and accuracy, and many new features, such as disturbance rejection capability. The recently developed active disturbance rejection control technology is applied to the attitude control of spacecraft subject to disturbances and parametric uncertainties. Simulation and experiment show significant advantages of the proposed attitude controller over the controller resulting from conventional PID approach.

Robust Active Disturbance Rejection Control For Flexible Link Manipulator

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 118-135 ◽  
Author(s):  
Raouf Fareh ◽  
Mohammad Al-Shabi ◽  
Maamar Bettayeb ◽  
Jawhar Ghommam
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Active Disturbance Rejection Control ◽  
Flexible Link ◽  
Estimation Errors ◽  
Disturbance Estimation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

SummaryThis paper presents an advanced robust active disturbance rejection control (ADRC) for flexible link manipulator (FLM) to track desired trajectories in the joint space and minimize the link’s vibrations. It has been shown that the ADRC technique has a very good disturbance rejection capability. Both the internal dynamics and the external disturbances can be estimated and compensated in real time. The proposed robust ADRC control law is developed to solve the problems existing in the original version of the ADRC related to the disturbance estimation errors and the variation of the parameters. Indeed, these parameters cannot be included in the existing disturbances and then be estimated by the extended state observer. The proposed control law is based on the sliding mode technique, which considers the uncertainties in the control gains and disturbance estimation errors. Lyapunov theory is used to prove the closed-loop stability of the system. The proposed control strategy is simulated and tested experimentally on one FLM. The effect of the observer bandwidth on the system performance is simulated and studied to select the best values of the bandwidth frequency. The simulation and experimental results show that the proposed robust ADRC has better performance than the traditional ADRC.

Robust launch vehicle’s generalized dynamic inversion attitude control

2017 ◽  
Vol 89 (6) ◽  
pp. 902-910 ◽  
Author(s):  
Uzair Ansari ◽  
Abdulrahman H. Bajodah
Keyword(s):  
Attitude Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Dynamic Scaling ◽  
Dynamic Inversion ◽  
Control Law ◽  
Successful Implementation ◽  
Robust Tracking Control ◽  
Content Type ◽  
Dynamic Constraints

Purpose To design a robust attitude control system for the ascent flight phase of satellite launch vehicles (SLVs). Design/methodology/approach The autopilot is based on generalized dynamic inversion (GDI). Dynamic constraints are prescribed in the form of differential equations that encapsulate the control objectives, and are generalized inverted using the Moore-Penrose Generalized Inverse (MPGI) based Greville formula to obtain the control law. The MPGI is modified via a dynamic scaling factor for assuring generalized inversion singularity-robust tracking control. An additional sliding mode control (SMC) loop is augmented to robustify the GDI closed-loop system against model uncertainties and external disturbances. Findings The robust GDI control law allows for two cooperating controllers that act on two orthogonally complement control spaces: one is the particular controller that realizes the dynamic constraints, and the other is the auxiliary controller that is affined in the null control vector, and is used to enforce global closed-loop stability. Practical implications Orthogonality of the particular and the auxiliary control subspaces ensures noninterference of the two control actions, and thus, it ensures that both actions work toward a unified goal. The robust control loop increases practicality of the GDI control design. Originality/value The first successful implementation of GDI to the SLV control problem.

Manipulation strategy of tilt quad rotor based on active disturbance rejection control

2019 ◽  
Vol 234 (3) ◽  
pp. 573-584 ◽  
Author(s):  
Zhigang Wang ◽  
Jianbo Li ◽  
Dengyan Duan
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Active Disturbance Rejection Control ◽  
Transition Mode ◽  
Mode Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Controller ◽  
Manipulation Strategy

To solve the problem of manipulation redundancy and coupling in transition mode of tilt quad rotor, this paper studied the manipulation strategy in transition mode, and carried out the design of the attitude controller based on active disturbance rejection control (ADRC) with sliding mode control in nonlinear state error feedback (NLSEF). According to the characteristics of flight in transition mode, the rudders and propellers were assigned different control rights. The differential output of the tracking differentiator was used as the attitude angular rate instruction to simplify the structure of the attitude controller. Extended state observer was used to estimate and compensate internal and external uncertainties. The sliding mode control in NLSEF was used to improve response speed of the controller. Through the flight control simulation and flight test of the tilt quad rotor, the validity of the control system and the rationality of the manipulation strategy were verified.

Active disturbance rejection control for small unmanned helicopters via Levy flight-based pigeon-inspired optimization

2017 ◽  
Vol 89 (6) ◽  
pp. 946-952 ◽  
Author(s):  
Daifeng Zhang ◽  
Haibin Duan ◽  
Yijun Yang
Keyword(s):  
Swarm Intelligence ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Optimization Problems ◽  
Active Disturbance Rejection Control ◽  
Lévy Flight ◽  
Levy Flight ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose The purpose of this paper is to propose a control approach for small unmanned helicopters, and a novel swarm intelligence algorithm is used to optimize the parameters of the proposed controller. Design/methodology/approach Small unmanned helicopters have many advantages over other unmanned aerial vehicles. However, the manual operation process is difficult because the model is always instable and coupling. In this paper, a novel optimized active disturbance rejection control (ADRC) approach is presented for small unmanned helicopters. First, a linear attitude model is built in hovering condition according to small perturbation linearization. To realize decoupling, this model is divided into two parts, and each part is equipped with an ADRC controller. Finally, a novel Levy flight-based pigeon-inspired optimization (LFPIO) algorithm is developed to find the optimal ADRC parameters and enhance the performance of controller. Findings This paper applies ADRC method to the attitude control of small unmanned helicopters so that it can be implemented in practical flight under complex environments. Besides, a novel LFPIO algorithm is proposed to optimize the parameters of ADRC and is proved to be more efficient than other homogenous methods. Research limitations/implications The model of proposed controller is built in the hovering action, whereas it cannot be used in other flight modes. Practical implications The optimized ADRC method can be implemented in actual flight, and the proposed LFPIO algorithm can be developed in other practical optimization problems. Originality/value ADRC method can enhance the response and robustness of unmanned helicopters which make it valuable in actual environments. The proposed LFPIO algorithm is proved to be an effective swarm intelligence optimizer, and it is convenient and valuable to apply it in other optimized systems.

scholarly journals Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

2021 ◽  
Vol 11 (13) ◽  
pp. 5960
Author(s):  
José Fermi Guerrero-Castellanos ◽  
Sylvain Durand ◽  
German Ardul Munoz-Hernandez ◽  
Nicolas Marchand ◽  
Lorenzo L. González Romeo ◽  
...  
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

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